Cleaning device

Abstract

The invention discloses cleaning equipment. The cleaning equipment comprises a main machine; the mechanical arm is arranged on the main machine, and the mechanical arm is provided with a hidden position relative to the main machine and a working position extending out of the main machine; the sensor is movably arranged on the mechanical arm, the sensor and the mechanical arm are arranged in a linkage mode, the sensor has a working state and a closed state, when the mechanical arm is located at the hidden position, the sensor is in the closed state, and the sensor is hidden in the mechanical arm; when the mechanical arm is in the working position, the sensor is in the working state, and the sensor is exposed out of the mechanical arm. According to the cleaning equipment, through the linkage structure of the mechanical arm and the sensor, the control precision of the mechanical arm can be further improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of cleaning equipment, and particularly relates to a cleaning equipment. BACKGROUND

[0002] The cleaning equipment can generally use a rolling brush, an edge brush and a mop to realize sweeping and mopping functions, but the above cleaning components have limited object operation on the periphery of the machine body, and the actual working environment is relatively complex. There may be obstacles on the periphery of the machine body that affect the movement of the cleaning equipment, or there may be garbage on the periphery of the machine body that needs to be cleaned but cannot be cleaned by the above cleaning components of the cleaning equipment, thereby affecting the cleaning effect.

[0003] In order to better realize the sweeping function, the current cleaning equipment also selects to add a mechanical arm that can be extended outside the machine body to realize the grabbing or moving of obstacles, objects and garbage on the periphery of the machine body. The mechanical arm can be stored in the machine body in a non-use state. However, the control of the mechanical arm is relatively complex, and the control accuracy of the mechanical arm of the current cleaning equipment is difficult to guarantee. SUMMARY

[0004] The scheme provided by the embodiments of the present application sets the sensor on the mechanical wall and further controls the cooperation of the mechanical arm and the sensor to work, so as to further improve the control accuracy of the mechanical arm.

[0005] To solve the above technical problems, the present application provides a cleaning equipment, which comprises a host machine, a mechanical arm, a sensor, wherein the mechanical arm is arranged on the host machine and has a hidden position relative to the host machine and a working position extended from the host machine; the sensor is movably arranged on the mechanical arm and is arranged in linkage with the mechanical arm; the sensor has a working state and a closed state; when the mechanical arm is in the hidden position, the sensor is in the closed state and is hidden in the inside of the mechanical arm; when the mechanical arm is in the working position, the sensor is in the working state and is exposed from the mechanical arm. The mechanical arm and the sensor provided by the present application move synchronously, so that when the mechanical arm is in the working position, the sensor is in the working state, the sensing head of the sensor in the working state is exposed, the position needing the mechanical arm to move is conveniently detected through the sensing head, the moving accuracy of the mechanical arm is improved, and the cooperation of the mechanical arm and the sensor is controlled to hide, so as to reduce the probability of damage of the corresponding sensor.

[0006] Optionally, the host is internally provided with a first accommodating space, a first opening corresponding to the first accommodating space is formed on the shell of the host, and the first accommodating space and the first opening form a first receiving groove; when the mechanical arm is in the hidden position, the mechanical arm is accommodated in the first receiving groove, and the arm shell covers the first opening; and the arm shell covering the first opening is consistent with the outer contour of the shell on the side of the first opening. When the mechanical arm is accommodated in the first receiving groove, the mechanical arm can be accommodated in the first receiving groove without leaving any trace, so that the related components of the mechanical arm can be protected, the overall appearance consistency of the cleaning equipment can be improved, and the user experience can be improved.

[0007] Optionally, the mechanical arm is internally provided with a second accommodating space, a second opening corresponding to the second accommodating space is formed on the arm shell of the mechanical arm, and the second accommodating space and the second opening form a second receiving groove; when the sensor is hidden in the mechanical arm, the sensor is accommodated in the second receiving groove, and the shell of the sensor covers the second opening; and the shell of the sensor covering the second opening is consistent with the outer contour of the arm shell on the side of the second opening.

[0008] Optionally, the mechanical arm comprises a transmission arm, the transmission arm is rotatably connected with the host, and the sensor is movably arranged on the transmission arm; a clamping jaw is movably arranged on the transmission arm, the clamping jaw has an extended position and a retracted position relative to the transmission arm; when the clamping jaw is in the extended position, the sensor is exposed from the transmission arm; and when the clamping jaw is in the retracted position, the sensor is hidden in the transmission arm. The sensor and the clamping jaw with synchronous action arranged on the transmission arm improve the coordination of the sensor and the clamping jaw, and the clamping jaw and the sensor both have a position hidden on one side or in the transmission arm, which is beneficial to improve the overall appearance consistency of the mechanical arm and improve the user experience.

[0009] Optionally, a plurality of transmission arms are provided, the plurality of transmission arms are rotatably connected, and the clamping jaw and the sensor are arranged on the transmission arm away from the host. The plurality of transmission arms are beneficial to improve the flexibility of the mechanical arm, thereby facilitating the clamping of objects at different positions; and the clamping jaw and the sensor arranged on the transmission arm away from the host facilitate the detection of the environment, which is beneficial to the clamping of objects and increases the use range of the mechanical arm.

[0010] Optionally, the clamping jaw is rotatable relative to the transmission arm to switch the clamping jaw between the extended position and the retracted position, and the angle between the clamping jaw and the transmission arm in the retracted position is different from the angle between the clamping jaw and the transmission arm in the extended position, so that the clamping jaw can be flush with the lower end surface of the transmission arm when the clamping jaw is in the retracted position, and the clamping jaw is arranged at an angle with the lower end surface when the clamping jaw is in the extended position, so that the clamping jaw can be rotated to the horizontal position when the transmission arm is in the inclined state, thereby facilitating the clamping jaw to perform the grabbing action and improving the grabbing efficiency.

[0011] Optionally, the clamping jaw further comprises a boss, the protrusion height of one end of the boss away from the clamping jaw is greater than the protrusion height of the other end of the boss towards the clamping jaw, and the end surface of the boss is shaped as an inclined surface; the clamping jaw is rotatably connected to the transmission arm through the inclined surface of the boss.

[0012] Optionally, the mechanical arm further comprises a first driving member and a transmission assembly; the first driving member is arranged on the transmission arm; the transmission assembly comprises a gear ring arranged on the inclined surface of the boss, and a bevel gear drivingly connected to the first driving member and engaged with the gear ring.

[0013] Optionally, the angle A between the inclined surface and the end surface of the clamping jaw satisfies 10°≤A≤30°, and the angle A satisfies 10°≤A≤30°, which facilitates the clamping jaw to be switched to the horizontal position by the transmission arm, and facilitates the clamping jaw to grab the object on the surface to be cleaned.

[0014] Optionally, the outer wall surface of the boss has a first limiting structure, the circumferential plane of the first limiting structure is parallel to the inclined surface, the clamping jaw has a groove structure, at least a part of the boss extends into the interior of the groove structure, the inner wall of the groove structure has a second limiting structure, one of the first limiting structure and the second limiting structure is a protruding rib and the other is a ring groove, and the protruding rib and the ring groove are in sliding fit. The cooperation structure of the ring groove and the protruding rib is used to limit the clamping jaw and the transmission arm, so as to avoid the disengagement between the clamping jaw and the transmission arm.

[0015] Optionally, the cleaning device further comprises a baffle connected at the joint between the clamping jaw and the transmission arm, the baffle is arranged on the side of the connecting portion away from the clamping portion, the baffle is coplanar with the upper end surface of the clamping jaw, the baffle is parallel to the upper end surface of the transmission arm when the clamping jaw is in the retracted position, so that the baffle shields the first receiving groove when the mechanical arm is in the hidden position; the baffle is arranged on the inner side of the transmission arm and is arranged at an angle with the lower end surface of the transmission arm when the clamping jaw is in the extended position. The baffle is arranged on the mechanical arm to shield the slot of the first receiving groove by the baffle, so as to realize the effect of hiding the mechanical arm without trace, which is beneficial to improve the overall appearance consistency of the cleaning device and improve the user experience.

[0016] Further, the transmission arm has a through hole, the sensor comprises a bracket rotatably arranged at the through hole, a sensor body having a sensing head, the sensor body being arranged on the bracket, and a reset member arranged between the bracket and the transmission arm, at least a part of the clamping jaw abutting against at least a part of the bracket to drive the bracket to overturn to switch the sensor from the working state to the closed state when the clamping jaw is switched from the extended position to the retracted position. The reset member provides driving force for the sensor in the open state, that is, reset force for exposing the sensing head, and the bracket is driven to overturn to expose the sensing head under the reset force of the reset member when the clamping jaw is switched to the extended position. The sensor adopts the structure of the bracket, the sensor body and the reset member, the overall structure is simple and no additional driving structure is needed, and the sensor is convenient to install. Meanwhile, the state of the sensor is switched by the reset force of the reset member and the abutting force of the clamping jaw, which is beneficial to improving the stability of the sensor movement.

[0017] Further, the bracket comprises a flip cover rotatably connected with the transmission arm, the reset member is arranged between the flip cover and the transmission arm, the sensor body is arranged on the flip cover, and the flip cover can shield the through hole. The flip cover is fixedly connected with an abutting shaft, and the abutting shaft abuts against or separates from the clamping jaw. The clamping jaw can abut against the abutting shaft when the clamping jaw is switched to the retracted position, and the flip cover is driven to overturn to shield the through hole. By adopting the flip cover and the abutting shaft, the flip cover is used to shield, so that dirt such as dust is prevented from entering the inside of the sensor. Meanwhile, the abutting shaft is used to abut against the clamping jaw, so that the clamping jaw drives the sensor to switch the state, and the clamping jaw and the sensor are linked.

[0018] The technical scheme provided by the application has the following advantages:

[0019] The mechanical arm and the sensor are synchronously operated, the sensor is in the working state when the mechanical arm is in the working position, the sensing head of the sensor in the working state is exposed, the position to which the mechanical arm needs to move is detected through the sensing head, and the control precision of the mechanical arm is improved. When the mechanical arm is in the hidden position, the sensor is in the closed state, and the sensor is hidden in the mechanical arm, so that the mechanical arm and the sensor are cooperatively hidden, and the probability of damage of the corresponding sensor is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the specific embodiments of the application or the technical scheme in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0021] Figure 1A perspective view of the mechanical arm according to the present application, wherein the clamping jaw is in the extended position;

[0022] Figure 2 An installation structure of the boss, the transmission assembly and the first driving member according to the present application;

[0023] Figure 3 A structure of the boss on the clamping jaw according to the present application;

[0024] Figure 4 A structure of the inner side of the transmission arm according to the present application;

[0025] Figure 5 A perspective view of the sensor according to the present application;

[0026] Figure 6 A perspective view of the mechanical arm according to the present application, wherein the clamping jaw is in the retracted position;

[0027] Figure 7 A structure of the abutment between the clamping jaw and the sensor according to the present application, wherein the clamping jaw is in the retracted position;

[0028] Figure 8 An installation structure of the second driving member on the clamping jaw according to the present application;

[0029] Figure 9 A perspective view of the cleaning device according to the present application;

[0030] Figure 10 A perspective view of the cleaning device according to the present application;

[0031] Figure 11 An extended state of the mechanical arm of the cleaning device according to the present application.

[0032] Explanation of reference numerals:

[0033] 10, mechanical arm; 110, transmission arm; 111, groove structure; 1111, ring groove; 120, clamping jaw; 121, connecting portion; 1211, boss; 12111, protruding rib; 12112, upper end surface of the connecting portion; 122, grabbing portion; 123, second driving member; 130, transmission assembly; 131, bevel gear; 132, gear ring; 140, first driving member; 150, rotating shaft; 20, sensor; 210, sensor body; 220, bracket; 221, flip cover; 222, abutment shaft; 30, baffle; 40, main machine. DETAILED DESCRIPTION

[0034] The technical solutions of the present application will be clearly and completely described below with reference to the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. The present application will be described in detail below with reference to the drawings and in combination with the embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0035] It should be noted that the terms "first", "second" and the like in the description of the present application and the above drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence.

[0036] In the present application, the orientation words such as "up", "down", "top", "bottom" used without the opposite description are generally directed to the direction shown in the drawings, or to the vertical, perpendicular or gravity direction of the components themselves; similarly, for the convenience of understanding and description, "inner" and "outer" refer to the inner and outer relative to the contour of the components themselves, but the above orientation words are not used to limit the present application.

[0037] The embodiments of the present application provide a cleaning device, such as Figures 1 to 9 As shown, the cleaning device comprises a host 40 and a mechanical arm 10, the mechanical arm 10 is arranged on the host 40, and the mechanical arm 10 has a hidden position relative to the host 40 and a working position extending out of the host 40.

[0038] In the description of the embodiments of the present application, when the host 40 is placed on the ground to perform cleaning work, upward perpendicular to the ground is upward, and the direction parallel to the ground is lateral; accordingly, the side of the host 40 facing the ground is the lower part, the side of the host 40 away from the ground is the upper part, and the side of the host 40 perpendicular to the ground is the side part. In order to distinguish the description, in each embodiment of the present application, the face of each structure of the mechanical arm facing and away from the working surface of the cleaning device when the mechanical arm is in the hidden position can be taken as the end face, wherein the face facing the working surface of the cleaning device is the lower end face, and the face away from the working surface of the cleaning device is the upper end face.

[0039] The first receiving groove can be arranged in the upper part of the host 40, or the first receiving groove can also be arranged in the side part of the host 40. For example, a first accommodation space can be reserved in the host, and a first opening corresponding to the first accommodation space can be opened on the shell of the host to form the first receiving groove. The shell of the host 40 can include an upper shell and a side shell, the upper shell is located in the upper part of the host 40, and the side shell is located in the side part of the host 40; if the first opening is opened on the side shell, the first receiving groove is located in the side part of the host 40; for example, Figure 10As shown, if the first opening is formed on the upper shell, the corresponding first receiving groove is located at the upper part of the host 40. The mechanical arm 10 is accommodated in the interior of the first receiving groove, and the mechanical arm 10 is in a hidden position relative to the host 40. The mechanical arm 10 extends from the first receiving groove, and the mechanical arm 10 extends relative to the host 40. The mechanical arm 10 is accommodated in the first receiving groove, which can facilitate the accommodation of the mechanical arm 10 in the interior of the first receiving groove when the mechanical arm 10 is not working, does not occupy additional space, and improves the structural compactness of the cleaning device as a whole. When the mechanical arm 10 needs to work, it is extended to the first receiving groove to work and assist the host to perform cleaning processing, thereby improving the cleaning coverage and flexibility of the cleaning device.

[0040] The mechanical arm 10 is rotatably mounted on the host 40 to assist in processing the target object around the sweeper. One end of the mechanical arm 10 is rotatably arranged in the interior of the first receiving groove. When the mechanical arm 10 is in a working position, the other end of the mechanical arm 10 can extend out of the first receiving groove, so that the mechanical arm 10 extends out of the host 40 to assist in processing the target object around the sweeper. When the mechanical arm 10 does not need to work, the whole mechanical arm 10 can be accommodated in the interior of the first receiving groove to realize the hidden position of the mechanical arm 10 relative to the host 40. For example, one end of the mechanical arm 10 is provided with a rotating shaft 150 connected with a driving motor. The driving motor drives the rotating shaft 150 to rotate, so that the other end of the mechanical arm 10 extends out of the first receiving groove or is retracted. The rotation of one end of the mechanical arm relative to the host enables the mechanical arm to extend and hide, which can further improve the flexibility and range of motion of the mechanical arm, thereby improving the flexibility of the mechanical arm in assisting the host to clean.

[0041] Alternatively, the movement of the mechanical arm can also be controlled by other driving modes. For example, the mechanical arm 10 can linearly extend relative to the host 40 to switch between the hidden position relative to the host 40 and the working position extending out of the host 40.

[0042] Of course, the host 40 can also not be provided with a receiving groove. Some components of the cleaning device can be used as the mechanical arm 10. For example, the bumper of the cleaning device can be used as the mechanical arm 10. The bumper can be arranged on the host 40 through a connecting rod mechanism. The connecting rod mechanism drives the bumper to extend relative to the host 40 to perform auxiliary work around the host 40. When the bumper does not need to work as a mechanical arm, the bumper is retracted to switch to a hidden position relative to the host 40, and only functions as a bumper of the host to detect obstacles.

[0043] The mechanical arm 10 is configured to be in a hidden position relative to the main machine 40 when not in operation, so as not to occupy extra space and improve the overall structural compactness of the cleaning device; when the mechanical arm 10 needs to be in operation, the mechanical arm 10 is extended out of the main machine to assist the main machine to perform cleaning processing, thereby improving the cleaning coverage and flexibility of the cleaning device.

[0044] The length and extension direction of the mechanical arm 10 can be set to adjust the extension length and extension direction of the mechanical arm 10 relative to the main machine 40. In some embodiments, the mechanical arm 10 can include a plurality of transmission arms 110, and a joint connecting member is arranged between the transmission arms. By controlling the extension direction of each transmission arm 110 and the angle between the two transmission arms 110, the extension length and extension direction of the mechanical arm 10 relative to the main machine 40 can be controlled, and the flexibility of the extension length and extension direction control of the mechanical arm 10 can be further improved. At the same time, by arranging a plurality of transmission arms 110, the mechanical arm 10 can be conveniently hidden relative to the main machine 40. When the mechanical arm 10 is accommodated in the first accommodation groove, the plurality of transmission arms 110 can be accommodated in the first accommodation groove in a folded manner while ensuring the extension direction and extension length of the mechanical arm 10, thereby improving the accommodation convenience.

[0045] The cleaning device further includes a sensor 20 movably arranged on the mechanical arm 10. The sensor 20, such as a line laser, an RGB camera, an infrared detector, etc., detects the size, position, and surrounding environment of the target object to be operated by the mechanical arm 10, so as to accurately determine the position to be moved by the mechanical arm 10 and the operation mode of the mechanical arm 10, etc., thereby improving the movement and operation accuracy of the mechanical arm 10.

[0046] The sensor 20 can be hidden in the interior of the mechanical arm 10 and exposed from the mechanical arm 10. For example, a second accommodation groove can be arranged on the mechanical arm 10. For example, a second accommodation space can be pre-set on the mechanical arm 10, and a second opening corresponding to the second accommodation space is formed on the arm shell of the mechanical arm 10 to form the second accommodation groove. The arm shell can include an upper shell, a lower shell, and a side shell, and the second opening can be formed on the upper shell, the lower shell, or the side shell. As shown in the drawings, the second opening is formed on the upper shell of the arm shell. The sensor 20 is accommodated in the second accommodation groove when not in operation, and at least partially extends out of the second accommodation groove to be exposed from the mechanical arm 10 when in operation, so as to detect the size, position, and surrounding environment of the target object to be operated by the mechanical arm 10. Figure 10

[0047] ​The sensor 20 can be movably connected at one end in the second receiving groove. The one end of the sensor 20 can be rotatably connected in the second receiving groove, effectively adjusting the detection angle of the sensor 20, and further improving the adjustment flexibility of the detection range of the sensor 20. Alternatively, the sensor 20 can be linearly movable at one end relative to the second receiving groove, such as up and down or left and right.

[0048] The sensor 20 is received in the second receiving groove, which can conveniently accommodate the sensor 20 inside the second receiving groove when not working, without occupying additional space, improving the overall structural compactness of the mechanical arm 10, and avoiding the sensor 20 from being damaged by obstacles; when the sensor 20 needs to work, it is extended to the second receiving groove for work, assisting the mechanical arm 10 to perform cleaning processing, and improving the execution accuracy of the mechanical arm 10.

[0049] The sensor 20 can also be hidden in the interior of the mechanical arm 10 in other ways, such as when the mechanical arm 10 includes multiple transmission arms, the sensor 20 can be clamped between two transmission arms to be hidden in the interior of the mechanical arm 10, etc.

[0050] The sensor 20 has a working state and a closed state. When the sensor 20 is in the working state, it can perform a detection function; when the sensor 20 is in the closed state, it no longer performs the detection function.

[0051] The working state of the sensor 20 and the mechanical arm 10 and the hiding and extension can be linked and set. When the mechanical arm 10 is in the hidden position, the sensor 20 is controlled to be hidden in the interior of the mechanical arm 10, and the sensor 20 is controlled to be in the closed state; when the mechanical arm 10 is in the working position, the sensor 20 is controlled to be exposed from the mechanical arm, and the sensor 20 is controlled to be in the working state.

[0052] The mechanical arm 10 is switched from the hidden position to the extended position, so that when the mechanical arm 10 is in the working position, the sensor 20 is also switched from the hidden position to the extended position, i.e. exposed from the mechanical arm 10, and the sensor 20 is controlled to be in the working state, so that when the mechanical arm 10 assists the target object around the sweeper, the sensor 20 synchronously detects the area near the mechanical arm 10, improving the movement and operation precision of the mechanical arm 10. When the mechanical arm 10 is switched from the extended position to the hidden position, the work is ended, and the sensor 20 is also switched from the extended position to the hidden position and the work is ended. Thus, when the mechanical arm 10 is hidden and does not need to work, the sensor 20 can be timely received in the interior of the mechanical arm 10 and the work is ended, reducing the energy consumption of the sensor 20, and reducing the probability of the sensor 20 being contaminated and damaged.

[0053] As shown in the above embodiment, the host 40 is internally provided with a first accommodating space, a first opening corresponding to the first accommodating space is formed on the shell of the host 40, the first accommodating space and the first opening form a first receiving groove, and the mechanical arm 10 is accommodated in the first receiving groove when the mechanical arm 10 is in the hidden position. On the basis of this structure, the arm shell of the mechanical arm 10 can cover the first opening when the mechanical arm 10 is in the hidden position, and the outer contour of the arm shell covering the first opening is consistent with the outer contour of the shell of the host 40. When the mechanical arm is accommodated, the arm shell of the mechanical arm covers the opening of the first receiving groove, which can prevent dust and water stains in the external environment from polluting the components on the mechanical arm. Further, the outer contour of the arm shell covering the first opening is consistent with the outer contour of the shell of the host 40, which can also achieve the effect of traceless accommodation, thereby protecting the components related to the mechanical arm while improving the overall appearance consistency of the cleaning equipment and improving the user experience.

[0054] The mechanical arm 10 is internally provided with a second accommodating space, a second opening corresponding to the second accommodating space is formed on the arm shell of the mechanical arm 10, the second accommodating space and the second opening form a second receiving groove, and the sensor 20 is accommodated in the second receiving groove when the sensor 20 is in the hidden position. The sensor 20 can also include a shell, and the shell of the sensor 20 can cover the second opening when the sensor 20 is in the hidden position, and the outer contour of the shell of the sensor 20 covering the second opening is consistent with the outer contour of the arm shell around the second opening. When the sensor is accommodated, the shell of the sensor covers the opening of the second receiving groove, which can prevent dust and water stains in the external environment from polluting the window and the detection device of the sensor. Further, the outer contour of the shell of the sensor covering the second opening is consistent with the outer contour of the arm body of the mechanical arm, which can further achieve traceless accommodation between the mechanical arm and the sensor, thereby protecting the sensor while improving the overall appearance consistency of the cleaning equipment and improving the user experience.

[0055] As Figure 11As shown, the upper part of the host 40 has a first receiving groove for accommodating the mechanical arm 10, and the upper part of the mechanical arm 10 has a second receiving groove for accommodating the sensor 20. When the mechanical arm 10 is accommodated in the first receiving groove, the sensor 20 is also accommodated in the second receiving groove. Since the outer contour of the upper shell of the machine shell is planar, the arm shell covering the first opening of the first receiving groove and the shell of the sensor 20 covering the second opening of the second receiving groove are consistent with the outer contour of the upper shell of the machine shell, and are planar, so that after the mechanical arm is accommodated, the shell of the mechanical arm and the sensor of the cleaning equipment covers the opening of the receiving groove, and the outer contour of the shell of the mechanical arm and the sensor is consistent with the outer contour of the shell of the host, achieving the effect of traceless accommodation, thereby realizing the protection of the mechanical arm and the related components of the sensor while improving the overall appearance consistency of the cleaning equipment and improving the user experience.

[0056] Alternatively, if the first opening is formed on the side shell of the host, since the outer contour of the side shell is arc-shaped, when the mechanical arm is accommodated in the first receiving groove, the arm shell covering the first opening is consistent with the outer contour of the side shell on the side of the first opening, which is an arc-shaped arc with the same curvature, thereby achieving the effect of traceless accommodation.

[0057] The mechanical arm 10 can include a transmission arm 110 and an end effector, which can be a gripper, a suction cup, a mechanical hand, etc. By providing the end effector, it is convenient to perform gripping, moving and other processing on the objects around the host. For example, Figure 1 As shown, the mechanical arm 10 can include a transmission arm 110 and a gripper 120, the transmission arm 110 is rotatably connected with the host 40, the sensor 20 is arranged on the transmission arm 110, and the gripper 120 is movably arranged on the transmission arm 110. The gripper 120 has a retracted position and an extended position relative to the transmission arm 110; when the gripper 120 is in the retracted position, the gripper 120 is attached to the transmission arm 110; or when the gripper 120 is in the retracted position, the gripper 120 is accommodated in a third receiving groove of the transmission arm 110; wherein a third accommodation space is pre-set in the transmission arm 110, a third opening corresponding to the third accommodation space is formed on the arm shell of the transmission arm 110, and the third accommodation space and the third opening form a third receiving groove.

[0058] By setting the clamping jaw 120, the cleaning flexibility of the mechanical arm 10 to the environment around the host 40 can also be further improved, such as using the clamping jaw to pick up paper balls, socks and other garbage. When the mechanical arm 10 is in the working position, the clamping jaw 120 can be in the extended position or in the retracted position. The mechanical arm 10 can control the extension and retraction of the clamping jaw as needed to improve the control flexibility of each component of the mechanical arm 10. When the mechanical arm 10 is in the hidden position, the clamping jaw 120 is in the retracted position, which facilitates the storage of the mechanical arm 10. Among them, the clamping jaw 120 can be switched between the retracted position and the extended position, or it can be switched linearly, which is not limited here.

[0059] As shown in Figure 1 , the clamping jaw 120 can be arranged at the end of the transmission arm 110 away from the host 40, and the clamping jaw 120 can be rotatably connected to the end of the transmission arm 110. By controlling the rotation angle of the clamping jaw 120, it is more convenient to realize the clamping of garbage. When the clamping jaw 120 needs to work, the clamping jaw 120 can be extended outward relative to the transmission arm 110; as shown in Figure 6 , when the clamping jaw 120 does not need to work, the clamping jaw 120 is controlled to be folded inward of the transmission arm 110, so that the clamping jaw is attached to the transmission arm 110. The inner side of the transmission arm 110 is the side of the transmission arm 110 facing the working surface of the cleaning device, and the outer side of the transmission arm 110 is the side away from the working surface of the cleaning device. The clamping jaw is arranged at the end of the transmission arm away from the host 40, which can more conveniently handle paper balls, socks and other garbage; at the same time, because the clamping jaw generally has a certain shape, it is difficult to keep consistent with the outer contour of the shell of the host, and further controlling the clamping jaw 120 to be folded inward of the transmission arm 110 can make the clamping jaw hidden in the inner side of the transmission arm 110 after the mechanical arm is stored, facilitating the traceless storage of the mechanical arm.

[0060] As shown in Figure 1 , the second storage groove is arranged at the upper part of the transmission arm 110, so that the sensor 20 is movably arranged at the upper part of the transmission arm 110, to detect the environmental information of the working area of the clamping jaw 120 and assist the clamping jaw 120 in performing actions. The clamping jaw is attached to the inner side of the transmission arm 110, and relative to the clamping jaw attached to the upper side of the transmission arm 110, it can also avoid affecting the detection of the sensor 20 after the clamping jaw is folded, so that the sensor 20 can still detect the environmental information of the working area of the transmission arm 110 after the clamping jaw is folded, to assist the transmission arm 110 in performing actions.

[0061] The sensor 20 and gripper 120 can also be controlled in a coordinated manner. When the gripper 120 is in the retracted position, the sensor 20 is also in a closed state and stored in the second storage slot. When the gripper 120 is in the extended position, the sensor 20 is in working state and protrudes from the transmission arm 110 to detect environmental information in the working area of ​​the gripper 120. The gripper 120 and sensor 20 on the robotic arm 10 move synchronously. When the gripper 120 is in the extended position, the sensor 20 protrudes from the transmission arm 110 to assist the gripper 120 in grasping objects at preset positions. When the gripper 120 switches to the retracted position, the sensor 20 moves synchronously and is hidden inside the transmission arm 110. The synchronously moving sensor 20 and gripper 120 are set on the transmission arm 110, which improves the coordination between the sensor 20 and gripper 120. At the same time, both the gripper 120 and sensor 20 can be hidden on the side or inside the transmission arm 110, which helps to improve the operational coordination of the robotic arm 10 and the overall appearance consistency, thereby improving the user experience.

[0062] Multiple transmission arms 110 can be provided, and the multiple transmission arms 110 are rotatably connected to each other. The gripper 120 and the sensor 20 are set on the transmission arm 110 that is away from the host 40. The arrangement of multiple transmission arms 110 helps to improve the flexibility of the robotic arm 10, thereby facilitating the gripping of objects in different positions; the gripper 120 and the sensor 20 being set on the transmission arm 110 that is away from the host 40 facilitates environmental detection, which is beneficial for gripping objects and increases the application range of the robotic arm 10.

[0063] like Figure 1 As shown, given that the outline of the upper shell of a robotic vacuum cleaner is typically planar, the transmission arm 110 can be a plate-like structure. At least the outline of the upper shell of the transmission arm 110 connected to the gripper 120 is also planar, meaning the upper end face of the transmission arm 110 is planar. The end face of the gripper 120 is also configured as an approximately planar structure. When the gripper 120 is attached to the transmission arm 110, the end face of the gripper 120 is parallel or approximately parallel to the upper end face of the transmission arm 110. When the gripper 120 is attached to the lower end face of the transmission arm 110, the upper end face of the gripper 120 is parallel or approximately parallel to the upper end face of the transmission arm 110, so as to facilitate seamless storage of the robotic arm 10.

[0064] The mechanical arm 10 further comprises a first driving member 140 and a transmission assembly 130, the first driving member 140 is arranged on the transmission arm 110, and the first driving member 140 drives the clamping jaw to switch from the retracted position to the extended position through the transmission assembly 130. The first driving member 140 provides driving force for the position switching of the clamping jaw 120, which improves the accuracy and efficiency of the movement of the clamping jaw 120. The first driving member 140 can be a rotary motor, the first driving member 140 drives the clamping jaw 120 to rotate through the transmission assembly 130, and the first driving member 140 adopts the structure of a rotary motor, which is convenient for providing rotary driving force for the clamping jaw 120. Of course, if the first driving member drives the clamping jaw to move linearly, the first driving member is a linear motor. The first driving member 140 can have a self-locking function, which is beneficial to maintain the position of the clamping jaw 120 and thus improve the clamping effect of the clamping jaw 120.

[0065] In some embodiments, the clamping jaw 120 rotates relative to the transmission arm 110 to switch the clamping jaw 120 between the extended position and the retracted position, and the angle between the clamping jaw 120 in the retracted position and the transmission arm 110 is different from the angle between the clamping jaw 120 in the extended position and the transmission arm 110.

[0066] The clamping jaw 120 can rotate relative to the transmission arm 110 in a non-planar plane to switch the clamping jaw 120 between the retracted position and the extended position, and the angle between the clamping jaw 120 in the retracted position and the transmission arm 110 is different from the angle between the clamping jaw 120 in the extended position and the transmission arm 110, so that the end surface of the clamping jaw 120 is parallel or approximately parallel to the end surface of the transmission arm 110 when the clamping jaw 120 is in the retracted position, facilitating the hiding of the clamping jaw 120 and being beneficial to the traceless storage of the transmission arm 110; and when the clamping jaw 120 is in the extended position, the transmission arm 110 and the clamping jaw 120 can be arranged at an angle, so that the end surface of the clamping jaw 120 can be parallel or approximately parallel to the working plane under the condition that the end surface of the transmission arm 110 forms an angle with the working surface, thereby facilitating the clamping jaw 120 to perform a grabbing action on the object on the working surface. Through the rotation structure, the pitch angle adjusting unit does not need to be additionally configured for the clamping jaw, and the clamping jaw can be moved from the storage position to the working position for performing the grabbing action on the object on the working surface, the overall structure is simplified, the action is facilitated to be performed, and the installation and manufacturing costs are reduced. When the clamping jaw 120 is in the extended position, the transmission arm 110 and the clamping jaw 120 are arranged at an angle, which can also facilitate the field of view of the sensor arranged on the transmission arm 110 to cover the area of the clamping jaw and the periphery of the clamping jaw, so that the action of the clamping jaw can be accurately controlled based on the detection information of the sensor.

[0067] The gripper 120 can rotate around a preset rotation axis to rotate from the retracted position to the extended position. The preset rotation axis has a specified angle with the upper end face of the transmission arm 110 connected to the gripper. The range of the specified angle can be set as needed to ensure that the upper end face of the gripper 120 is in contact with the lower end face of the transmission arm 110 when the gripper 120 is in the retracted position, and the end face of the gripper 120 is not parallel to the end face of the transmission arm 110 when the gripper 120 is in the extended position, that is, there is an angle greater than zero and less than 180 degrees, so that the rotation of the gripper 120 is not in a plane. After the transmission arm extends, it is difficult to adjust the end face of the transmission arm to be parallel to the working surface of the cleaning equipment. By setting the rotation axis of the gripper 120 relative to the transmission arm 110 to be non-perpendicular to the transmission arm 110, after the gripper 120 rotates out from the position where it is in contact with the transmission arm 110, the end face of the gripper 120 will no longer be parallel to the end face of the transmission arm 110, and there will be an angle greater than zero and less than 180 degrees. This makes it easier to control the end face of the gripper 120 to be parallel to the working surface of the cleaning equipment, and thus makes it easier for the gripper 120 to perform gripping and other processing on the working surface.

[0068] The gripper 120 includes a connecting portion 121 and a gripping portion 122. The gripping portion 122 is disposed on the connecting portion 121. When the gripper 120 rotates to the extended position, the gripping portion 122 protrudes from the end of the transmission arm 110, and is located on the side of the connecting portion 121 away from the transmission arm 110. When the gripper 120 rotates to the extended position, the gripping portion 122 rotates to the front end of the transmission arm 110. The transmission assembly 130 can be disposed on the connecting portion 121 to avoid interference with the movement of the gripping portion 122. The end face of the gripping portion 122 and the end face of the connecting portion 121 can be coplanar, and the surfaces at both ends of the gripping portion 122 and the connecting portion 121 are parallel. Of course, the end face of the gripping portion 122 and the end face of the connecting portion 121 can also be non-coplanar and non-parallel, depending on the needs.

[0069] like Figure 2 As shown, when the gripper 120 includes a connecting part 121 and a gripping part 122, the preset rotation axis X has a specified angle with the upper end face 12112 of the connecting part. The gripper 120 can rotate around the rotation axis X to ensure that the upper end face of the gripper 120 is in contact with the lower end face of the transmission arm 110 when the gripper 120 is in the retracted position, and that the end face of the gripper 120 is at an angle with the end face of the transmission arm 110 when the gripper 120 is in the extended position. Then, by controlling the angle between the multiple transmission arms, the gripper 120 is made parallel to the working surface of the cleaning equipment. Without the need for an additional pitch angle adjustment unit for the gripper, the gripper can be moved from the storage position to the desired working position.

[0070] Of course, when it is necessary to flexibly adjust the angle between the end face of the gripper and the working surface, an additional pitch angle adjustment unit and a side angle adjustment unit can be configured.

[0071] A boss 1211, inclined relative to the end face of the gripper, can be fixed on the gripper. The end face of the boss is not parallel to the end face of the gripper, but forms an angle. The boss 1211 can be formed on the side of the connecting portion 121 facing the transmission arm 110, and the boss 1211 is integrally formed on the connecting portion 121. The protrusion height of the end of the boss 1211 away from the gripping portion 122 is greater than the protrusion height of the end of the boss 1211 facing the gripping portion 122, so that the end face of the boss 1211 is formed as an inclined surface relative to the end face of the gripper, that is, the end face of the boss is not parallel to the end face of the gripper. For ease of description, the end face of the boss that forms an angle with the end face of the gripper can be described as an inclined surface.

[0072] like Figure 2 As shown, a gear ring 132 is provided on the inclined surface, and a helical gear 131 is connected to the output shaft of the first drive member 140. The helical gear 131 meshes with the gear ring 132. Correspondingly, the transmission assembly 130 includes the gear ring 132 and the helical gear 131. By the engagement of the helical teeth on the helical gear 131 with the gear ring 132, the gripper rotates from the retracted position to the extended position. Based on the above structure and driving method, by configuring the angle between the inclined surface and the end face of the gripper, a specified angle can be easily achieved between the rotation axis X of the gripper 120 and the end face of the transmission arm 110, ensuring that the upper end face of the gripper 120 is in contact with the lower end face of the transmission arm 110 when the gripper 120 is in the retracted position, and that the end face of the gripper 120 is at an angle with the upper end face of the transmission arm 110 when the gripper 120 is in the extended position.

[0073] The angle A between the inclined plane and the end face 12112 of the connecting part 121 satisfies the following conditions: in the retracted position, the upper end face of the gripper 120 is in contact with the lower end face of the transmission arm 110; in the extended position, the lower end face of the gripper 120 is parallel to the working surface of the cleaning device. The value of the included angle A can be 10°≤A≤30°, preferably A is 20°. It can be understood that when the angle A satisfies 10°≤A≤30°, it is convenient to configure the extension angle of multiple transmission arms, so that the gripper 120 switches to a position parallel to the working surface, realizing the gripping of the object to be cleaned on the surface, which is convenient for operation; at the same time, taking the value within the above angle range can also make it easy for the gripper 120 to avoid the transmission arm 110 during the rotation movement, avoiding interference.

[0074] The gripper 120 also includes a second driving member 123, which is disposed on the connecting part 121. The gripping part 122 includes two gripping arms arranged in pairs. The second driving member 123 drives the two gripping arms to open or close. By using the second driving member 123 to drive the two grippers 120 to open or close, the gripping stability of the grippers 120 is improved. Furthermore, since the second driving member 123 has a self-locking function, it can keep the positions of the two grippers 120 fixed, which helps to improve the working efficiency of the grippers.

[0075] The clamping jaw can be a flexible structure, and a reinforcing rib can be arranged locally to enhance the clamping jaw, and the clamping jaw can be deformed according to the shape of an object to improve the clamping capacity of the clamping jaw. The clamping jaw has an arc-shaped structure. The clamping jaw without an arc surface needs to be matched with a parallel clamping movement mechanism when clamping a columnar object. The clamping jaw with the arc-shaped structure in the embodiments of the present application can clamp an object similar to a cylinder without a parallel clamping movement mechanism, and the object similar to the cylinder can be clamped when the rotary hinge is running, thereby improving the clamping capacity of the clamping jaw.

[0076] Further, the first limiting structure is arranged on the outer wall surface of the boss 1211, and a plane in which the first limiting structure is circumferentially located is parallel to the inclined surface. The slot structure 111 is arranged on the transmission arm 110, at least a part of the boss 1211 extends into the interior of the slot structure 111, the second limiting structure is arranged on the inner wall of the slot structure 111, one of the first limiting structure and the second limiting structure is a convex rib 12111, and the other is a ring groove 1111, and the convex rib 12111 and the ring groove 1111 are in sliding fit.

[0077] Specifically, the matching structure of the ring groove 1111 and the convex rib 12111 is used to limit the transmission arm 110 and the clamping jaw 120, so that the transmission arm 110 and the clamping jaw 120 are prevented from being separated. Further, the plane in which the convex rib 12111 or the ring groove 1111 on the boss 1211 is circumferentially located is parallel to the inclined surface, and the boss 1211 can rotate relative to the slot structure 111, so that the clamping jaw 120 has a certain rotation angle when the boss 1211 rotates. The clamping jaw 120 with the rotation angle is convenient to keep parallel to the surface to be cleaned during movement, and the grabbing efficiency is improved.

[0078] The transmission arm 110 has a through hole, the sensor 20 includes a bracket 220, a sensor body 210 and a reset member, the bracket 220 is rotatably arranged at the through hole, the sensor body 210 has a sensing head, the sensor body 210 is arranged on the bracket 220, and the reset member is arranged between the bracket 220 and the transmission arm 110. When the clamping jaw 120 is switched from the extended position to the retracted position, at least a part of the clamping jaw 120 abuts against at least a part of the bracket 220 to drive the bracket 220 to flip, so that the sensor 20 is switched from the open state to the closed state. The sensor 20 has the structure of the bracket 220, the sensor body 210 and the reset member, the overall structure is simple, no additional driving structure is needed, and installation is convenient. Meanwhile, the state switching of the sensor 20 is realized by the reset force of the reset member and the abutting force of the clamping jaw 120, and the stability of the movement of the sensor 20 is improved.

[0079] The reset member provides a driving force for the sensor 20 in the open state, that is, provides a reset force for the exposure of the sensing head. When the clamping jaw 120 is switched to the extended position, the bracket 220 is driven to flip to expose the sensing head under the reset force of the reset member.

[0080] Furthermore, the reset element can be a torsion spring.

[0081] Furthermore, the bracket 220 includes a flip cover 221 and an abutment shaft 222. The flip cover 221 is rotatably connected to the transmission arm 110. A reset member is disposed between the flip cover 221 and the transmission arm 110. The sensor body 210 is disposed on the flip cover 221. The flip cover 221 can block the through hole. The abutment shaft 222 is fixedly connected to the flip cover 221 and can abut or separate from the gripper 120. When the gripper 120 switches to the retracted position, it can abut against the abutment shaft 222, thereby driving the flip cover 221 to flip and block the through hole. By adopting the configuration of the flip cover 221 and the abutment shaft 222, it is beneficial to achieve blocking through the flip cover 221, thereby preventing dust and other dirt from entering the interior of the sensor; at the same time, the abutment shaft 222 is used to abut against the gripper 120, so as to facilitate the gripper 120 to drive the sensor 20 to switch states, so as to achieve the linkage effect between the gripper 120 and the sensor 20.

[0082] In some embodiments, the cleaning device may further include a baffle 30, which is disposed on the side of the connecting portion 121 away from the gripping portion. The baffle 30 is coplanar with the upper end surface of the connecting portion and rotates together with the gripper 120. When the gripper 120 is in the retracted position, the baffle 30 is parallel to the upper end surface of the transmission arm 110. When the gripper 120 is in the extended position, the baffle 30 is located inside the transmission arm 110 and is angled to the lower end surface of the transmission arm 110.

[0083] As can be seen from the above embodiments, by setting the width and length of the robotic arm 10 housing to match the first storage slot, complete coverage of the first storage slot can be achieved after the robotic arm 10 is stored, protecting the relevant components of the robotic arm 10 and improving aesthetics. However, when a gripper is provided at the front end of the robotic arm 10, since the gripper needs to move flexibly at the front end of the robotic arm 10, it is necessary to minimize the interference that the robotic arm 10 housing may cause to the movement of the gripper. This may result in the robotic arm 10 housing width and length not being configured according to the dimensions of the first storage slot. For example... Figure 10 As shown in the embodiments of this specification, by setting part of the housing to be rotatable, i.e., the aforementioned baffle 30, when the housing of the robotic arm 10 cannot be configured according to the size of the first storage slot due to the setting of the gripper 120, the movable baffle 30 can supplement the coverage of the first storage slot while avoiding interference with the movement of the gripper 120, thereby achieving complete coverage of the first storage slot, ensuring the consistency of the machine body appearance, and preventing dust and water stains from entering the components of the robotic arm and causing damage to the components.

[0084] When the clamping jaw 120 is in the extended position, the baffle 30 is on the outside of the transmission arm 110, which may block the detection of the sensor 20. When the baffle 30 is on the inside of the transmission arm 110, the problem can be avoided. The baffle 30 is arranged at an angle with the lower end surface of the transmission arm 110, which can also avoid the baffle 30 pressing against the support 220, causing the support 220 to overturn, and then causing the sensor 20 to switch to the closed state, affecting the work of the sensor 20.

[0085] The baffle 30 and the connecting portion 121 can be fixedly connected, and the connection mode can be fixed connection through bolts and other fasteners, and of course other connection modes can also be used. The baffle 30 can also have a relief gap to avoid interference between the baffle 30 and the transmission arm 110, which prevents the baffle 30 from following the clamping jaw 120 and interfering with the work of the clamping jaw 120.

[0086] The sensor 20 can also be driven by a driving structure, and then the sensor 20 and the clamping jaw 120 can be synchronized. Specifically, the transmission arm 110 has a through hole, and the mechanical arm 10 further includes a driving structure arranged on the transmission arm 110. The driving structure is drivingly connected with the sensor 20, and the driving structure drives the sensor 20 to switch between the closed state and the open state. The driving structure can be a telescopic driving member, such as a telescopic motor, which lifts the sensor 20 to switch between the retracted position and the extended position. The driving structure can also be a rotary driving member, such as a rotary motor, which rotates the sensor 20 between the retracted position and the extended position.

[0087] From the above description, it can be seen that the above-mentioned embodiments of the present application achieve the following technical effects:

[0088] The mechanical arm 10 and the sensor 20 provided by the present application are synchronized, so that when the mechanical arm 10 is in the working position, the sensor 20 is in the working state, the sensing head of the sensor 20 in the working state is exposed, which facilitates the detection of the position to be moved by the mechanical arm 10, and improves the moving precision of the mechanical arm 10. When the mechanical arm 10 is in the hidden position, the sensor 20 is in the closed state, and the sensor 20 is hidden in the mechanical arm 10. The mechanical arm 10 is accommodated in the first accommodation groove of the main machine 40 to realize the accommodation of the mechanical arm 10. When the mechanical arm 10 is accommodated in the first accommodation groove, the mechanical arm 10 can be accommodated in the first accommodation groove without trace, which is beneficial to improve the overall appearance consistency of the cleaning equipment and improve the user experience.

[0089] Obviously, the above described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments of the present application, other different forms of changes or variations can be made by those skilled in the art without making any creative labor, and all should belong to the protection scope of the present application.

Claims

1. A cleaning device, characterized in that, include: Host (40); A robotic arm (10) is mounted on the host computer (40). The robotic arm (10) has a hidden position relative to the host computer (40) and a working position extending out of the host computer (40). A sensor (20) is movably mounted on the robotic arm (10). The sensor (20) is linked to the robotic arm (10). The sensor (20) has a working state and a closed state. When the robotic arm (10) is in the hidden position, the sensor (20) is in the closed state and is hidden inside the robotic arm (10). When the robotic arm (10) is in the working position, the sensor (20) is in the working state and is exposed from the robotic arm (10).

2. The cleaning equipment according to claim 1, characterized in that, The host (40) has a first accommodating space inside, and the host (40) has a first opening on its casing corresponding to the first accommodating space. The first accommodating space and the first opening form a first storage slot. When the robotic arm (10) is in the hidden position, the robotic arm (10) is stored inside the first storage slot, and the arm shell of the robotic arm (10) covers the first opening, and the outer contour of the arm shell covering the first opening is consistent with the outer contour of the housing around the first opening.

3. The cleaning equipment according to claim 1, characterized in that, The robotic arm (10) has a second accommodating space inside, and the arm shell of the robotic arm (10) has a second opening corresponding to the second accommodating space. The second accommodating space and the second opening form a second storage groove. When the sensor (20) is hidden inside the robotic arm (10), the sensor (20) is housed inside the second storage slot, and the housing of the sensor (20) covers the second opening. The housing of the sensor (20) covering the second opening is consistent with the outer contour of the arm housing around the second opening.

4. The cleaning equipment according to claim 1, characterized in that, The robotic arm (10) includes: A transmission arm (110) is rotatably connected to the host (40), and the sensor (20) is movably mounted on the transmission arm (110). A gripper (120) is movably disposed on the transmission arm (110), and the gripper (120) has an extended position and a retracted position relative to the transmission arm (110); When the gripper (120) is in the extended position, the sensor (20) is exposed from the transmission arm (110); when the gripper (120) is in the retracted position, the sensor (20) is hidden inside the transmission arm (110).

5. The cleaning equipment according to claim 4, characterized in that, Multiple transmission arms (110) are provided, and the multiple transmission arms (110) are rotatably connected to each other. The gripper (120) and the sensor (20) are provided on the transmission arm (110) away from the host (40).

6. The cleaning equipment according to claim 4, characterized in that, The gripper (120) rotates relative to the transmission arm (110) to switch between the extended position and the retracted position, and the angle between the gripper (120) and the transmission arm (110) in the retracted position is different from the angle between the gripper (120) and the transmission arm (110) in the extended position.

7. The cleaning equipment according to claim 6, characterized in that, The gripper (120) is also provided with a boss (1211). The height of the boss (1211) at the end away from the gripper (120) is greater than the height of the boss (1211) at the end facing the gripper (120). The end face of the boss (1211) is formed as a slope. The gripper (120) is rotatably connected to the transmission arm (110) via the inclined surface of the boss (1211).

8. The cleaning equipment according to claim 7, characterized in that, The robotic arm (10) also includes a first drive unit (140) and a transmission assembly (130); The first driving member (140) is disposed on the transmission arm (110); The transmission assembly (130) includes: A gear ring (132) is disposed on the inclined surface of the boss (1211); The first driving member (140) is drivingly connected to the helical gear (131), and the helical gear (131) meshes with the gear ring (132).

9. The cleaning equipment according to claim 7, characterized in that, The angle A between the inclined plane and the end face of the gripper (120) satisfies 10°≤A≤30°.

10. The cleaning equipment according to claim 7, characterized in that, The outer wall of the boss (1211) has a first limiting structure, the plane of the circumferential direction of the first limiting structure is parallel to the inclined plane, the gripper (120) has a groove structure (111), at least a part of the boss (1211) extends into the interior of the groove structure (111), the inner wall of the groove structure (111) has a second limiting structure, one of the first limiting part and the second limiting part is a rib (12111) and the other is an annular groove (1111), the rib (12111) and the annular groove (1111) are slidably engaged.

11. The cleaning equipment according to claim 4, characterized in that, The cleaning equipment also includes a baffle (30) connected to the junction of the gripper (120) and the transmission arm (110); The baffle (30) is coplanar with the upper end face of the gripper (120). When the gripper (120) is in the retracted position, the baffle (30) is parallel to the upper end face of the transmission arm (110), so that when the robotic arm (10) is in the hidden position, the baffle (30) covers the first storage slot on the host (40); when the gripper (120) is in the extended position, the baffle (30) is inside the transmission arm (110) and is angled to the lower end face of the transmission arm (110).

12. The cleaning equipment according to claim 4, characterized in that, The transmission arm (110) has a through hole, and the sensor (20) includes: A bracket (220) is rotatably disposed at the through hole; A sensor body (210) having a sensing head is mounted on the bracket (220); A reset member is disposed between the bracket (220) and the transmission arm (110). When the gripper (120) switches from the extended position to the retracted position, at least a portion of the gripper (120) abuts against at least a portion of the bracket (220) to drive the bracket (220) to flip, so that the sensor (20) switches from the working state to the closed state.

13. The cleaning equipment according to claim 12, characterized in that, The support (220) includes: A flip cover (221) is rotatably connected to the transmission arm (110). The reset member is disposed between the flip cover (221) and the transmission arm (110). The sensor body (210) is disposed on the flip cover (221). The flip cover (221) can block the through hole. The abutment shaft (222) is fixedly connected to the flip cover (221), and the abutment shaft (222) abuts against or separates from the gripper (120).

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